From f930b20f19b6e1e08d94cdb0513d1107f22a5dc0 Mon Sep 17 00:00:00 2001
From: James Ward <j.ward@sydney.edu.au>
Date: Thu, 31 Aug 2023 16:59:21 +1000
Subject: [PATCH] Add unit test for projected RPP carrot at end of path

---
 .../test/test_regulated_pp.cpp                               | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp b/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp
index 09892755d93..7087ef5acbf 100644
--- a/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp
+++ b/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp
@@ -403,6 +403,11 @@ TEST(RegulatedPurePursuitTest, lookaheadAPI)
   dist = 3.8;
   pt = ctrl->getLookAheadPointWrapper(dist, path);
   EXPECT_EQ(pt.pose.position.x, 3.8);
+
+  // test carrot projected off end of path with interpolation
+  dist = 100.0;
+  pt = ctrl->getLookAheadPointWrapper(dist, path);
+  EXPECT_EQ(pt.pose.position.x, 100.0);
 }
 
 TEST(RegulatedPurePursuitTest, rotateTests)